公开(公告)号：US07150704B2

公开(公告)日：2006-12-19

申请号：US10266248

申请日：2002-10-08

申请人： Albert Schaeffer

发明人： Albert Schaeffer

IPC分类号： A63B71/00

CPC分类号： G06F3/011 ,  A63B22/00 ,  A63B71/04 ,  A63B2022/0271 ,  G06F2203/012

摘要： A device for walking or running in place, especially for virtual spaces in which two transport elements crossing each other at a right angle are provided, which together form a walkable central surface, on which a user walks forward, whereas, under him, the transport elements move at the same speed. It is essential that the transport elements consist of rows of square plates or tiles, which can be moved in rows in the X and Y directions, where at all times a row of tiles is removed by a transfer device and then shifted by 90° or 180°.

摘要翻译： 一种用于步行或行走的装置，特别是用于虚拟空间的装置，其中两个运输元件以直角彼此交叉，这些虚拟空间一起形成可步行的中心表面，用户在其上向前走，而在他的下方，运输 元素以相同的速度移动。 重要的是，运输元件由方形板或瓦片排组成，它们可以在X和Y方向上成行移动，其中始终通过转移装置移除一排瓦片，然后移动90°或 180°。

公开(公告)号：US07356448B2

公开(公告)日：2008-04-08

申请号：US10910782

申请日：2004-08-02

申请人： Albert Schaeffer

发明人： Albert Schaeffer

IPC分类号： G06F3/033 ,  G02B23/00 ,  G09B23/28

CPC分类号： G05G9/04737 ,  G05G2009/04766

摘要： The invention concerns an input device operating according to the parallel kinematic principle and with haptic feedback, in particular for medical teleoperation with instruments. The inventive input device comprises a frame (10, as well as a support element (30) mobile relative to the frame (10), and including a grip member (70), the frame (10) and the support element (30) being coupled with several linear force-sensitive actuators (20,21) articulated on both sides to the frame and to the support element. The invention is characterized in that the support element (30) includes a grip member (71) mobile relative to the first grip member (70) and at least one grip member (70,71) is coupled with a force-sensitive grip actuator (90). According to a preferred embodiment of the invention, six linear actuators (20,21) form two interlaced tripods whereof the tips are articulated to the support element (30) and are further mobile relative to each other in the direction of the support element, such that the grip actuator (90) is replaced by all six linear actuators (20,21). In another embodiment, an additional degree of rotational freedom is provided by means of a step motor (80).

摘要翻译： 本发明涉及根据并联运动原理和触觉反馈操作的输入设备，特别是用于与仪器的医疗远程操作。 本发明的输入装置包括相对于框架（10）移动的框架（10以及支撑元件），并且包括握持构件（70），框架（10）和支撑元件（30）是 其特征在于，所述支撑元件（30）包括相对于所述支撑元件（30）可移动的握持构件（71），所述夹持构件 根据本发明的优选实施例，六个线性致动器（20,21）形成两个交错的三脚架（70），并且至少一个把手构件（70,71） 其中所述尖端铰接到所述支撑元件（30）上，并且在所述支撑元件的方向上相对于彼此进一步移动，使得所述夹紧致动器（90）被所有六个线性致动器（20,21）替代。 另一个实施例，额外的旋转自由度 通过步进电动机（80）提供。

公开(公告)号：US20050156877A1

公开(公告)日：2005-07-21

申请号：US10910782

申请日：2004-08-02

申请人： Albert Schaeffer

发明人： Albert Schaeffer

IPC分类号： G05G9/047 ,  G09G5/00

CPC分类号： G05G9/04737 ,  G05G2009/04766

摘要： The invention concerns an input device operating according to the parallel kinematic principle and with haptic feedback, in particular for medical teleoperation with instruments. The inventive input device comprises a frame (10, as well as a support element (30) mobile relative to the frame (10), and including a grip member (70), the frame (10) and the support element (30) being coupled with several linear force-sensitive actuators (20,21) articulated on both sides to the frame and to the support element. The invention is characterized in that the support element (30) includes a grip member (71) mobile relative to the first grip member (70) and at least one grip member (70,71) is coupled with a force-sensitive grip actuator (90). According to a preferred embodiment of the invention, six linear actuators (20,21) form two interlaced tripods whereof the tips are articulated to the support element (30) and are further mobile relative to each other in the direction of the support element, such that the grip actuator (90) is replaced by all six linear actuators (20,21). In another embodiment, an additional degree of rotational freedom is provided by means of a step motor (80).

摘要翻译： 本发明涉及根据并联运动原理和触觉反馈操作的输入设备，特别是用于与仪器的医疗远程操作。 本发明的输入装置包括相对于框架（10）移动的框架（10以及支撑元件），并且包括握持构件（70），框架（10）和支撑元件（30）是 其特征在于，所述支撑元件（30）包括相对于所述支撑元件（30）可移动的握持构件（71），所述夹持构件 根据本发明的优选实施例，六个线性致动器（20,21）形成两个交错的三脚架（70），并且至少一个把手构件（70,71） 其中所述尖端铰接到所述支撑元件（30）并且在所述支撑元件的方向上可以相对于彼此进一步移动，使得所述夹紧致动器（90）被所有六个线性致动器（20,21）替代。 另一个实施例，额外的旋转自由度 通过步进电动机（80）提供。